عنوان

MIMO Direct Adaptive Torque Control for Workspace Task of Hyper-Redundant Robotic Arm

شماره

TL56721

زبان متن نوشتاري يا گفتاري و مانند آن

انگلیسی

عنوان اصلي

MIMO Direct Adaptive Torque Control for Workspace Task of Hyper-Redundant Robotic Arm

نام عام مواد

[Thesis]

نام نخستين پديدآور

Xu, Xingsheng

نام ناشر، پخش کننده و غيره

University of Dayton

تاریخ نشرو بخش و غیره

2020

متن يادداشت

97 p.

جزئيات پايان نامه و نوع درجه آن

Dr.Ph.

کسي که مدرک را اعطا کرده

University of Dayton

امتياز متن

2020

متن يادداشت

A multi-input multi-output (MIMO) direct adaptive torque controller with ε-modification;-modification is presented that uses a conventional fuzzy systems to provide end-effector motion task in work space for a class of hyper-redundant manipulators with uncertain dynamics. It is illustrated via both simulated and implemented examples that the MIMO adaptive controller, which drives the torque of each joint to control end-effector dynamic variables, can highly improve the robotic performance considering both its kinematics and dynamics while executing motion control or tracking a reference in work space. In addition, it increases the robustness with respect to disturbances, sensor noise and insufficiently understood dynamics. We prove that the efficacy of our control algorithm affects the accuracy, stability and robustness of both motion control and path tracking. Also, an on-line task modification method (OTMM) is applied to achieve singularity avoidance for the hyper-redundant arm at the velocity level. It avoids the singularity on-line and waives off-line singularity avoidance path planning and the effort to check whether the singularity is escapable for the hyper-redundant manipulator.

اصطلاح موضوعی

Electrical engineering

اصطلاح موضوعی

Mechanical engineering

اصطلاح موضوعی

Robotics

مستند نام اشخاص تاييد نشده

Xu, Xingsheng

مستند نام تنالگان تاييد نشده

University of Dayton

نام الکترونيکي

فرمت انتشار

p

نوع ماده

[Thesis]

کد کاربرگه

276903

سطح دسترسي

a

تكميل شده

Y